Dynamixel XD430-T350-R Servo motor

A new smart servo motor with RS-485 connection

The Dynamixel XD430-T350-R actuator is one of the new-generation programmable servos designed by Robotis. It combines an servo, gearhead, driver and network for creating increasingly precise and efficient robotic movements and travel.

The XD430-T350-R actuator offers five different control modes for managing velocity, position, extended position, PWM and current. The data supplied gives a very accurate understanding of the actuator’s performance and allows real-time control of its operations.

100% open source, you can also program your Robotis XD430-T350-R servo motor with the help of its SDK. And you have the Dynamixel Wizard 2.0 tool for managing all your control and piloting operations.

Dynamixel XD430-T350-R actuator: lasts 3x longer!

The XD430-T350-R servos has a profile similar to the XH430-W350-R, and delivers the same torque and speed. But Robotis has chosen to make its new model more robust and long-lasting. By using high-quality gears and materials, the company has managed to increase the service life of its actuator by 250%!

Technical specifications of the XD430-T350-R actuator

• MCU: Cortex-M3 72 MHz, 32 bits
• Input voltage: 10-14.8 V (12 V recommended)
• Performance characteristics:
  • Voltage: 12 V
  • Stall torque: 3.4 N.m
  • Stall current: 1.3 A
  • No-load speed: 30 rpm
  • No-load current: 0.07 A
• Resolution: 0.0879°/pulse
• Step: 4,096 pulses/rev
• Angle: 360°
• Position sensor: contactless absolute encoder (12 bits, 360°)
• Operating temperature: -5 to 80 °C
• Maxon coreless motor
• Baud rate: 9,600-4,500,000 bps
• Control algorithm: PID
• Gear type: metal spur
• Metal and engineering plastic case
• Dimensions: 28.5 × 46.5 × 34 mm
• Weight: 85 g
• Gear ratio: 353.5:1
• Digital packet command signal
• Protocol type: half-duplex asynchronous serial communication (8 bits, 1 stop, no parity)
• Link: RS485 multidrop bus
• ID: 0~252
• Feedback: position, velocity, current, real-time tick, trajectory, temperature, voltage, etc.
• Protocol type: 1.0, 2.0 (default)
• Operating mode/angle:
  • Current control: endless turn
  • Velocity control: endless turn
  • Position control: 360°
  • Extended position control: +/- 256 revolutions
  • PWM control: endless turn
• Standby current: 40 mA

Resources for the XD430-T350-R

All the resources for the Dynamixel XD430-T350-R actuator are available for free:

• e-manual
• Technical diagram 
• Software 
• Compatibility guide
• Selection guide
• Dynamixel SDK